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<div class="header">
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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="classpcl_1_1registration_1_1_transformation_estimation3_point-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::registration::TransformationEstimation3Point&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考</div>  </div>
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<p>TransformationEstimation3Points represents the class for transformation estimation based on:  
 <a href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="transformation__estimation__3point_8h_source.html">transformation_estimation_3point.h</a>&gt;</code></p>
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类 pcl::registration::TransformationEstimation3Point&lt; PointSource, PointTarget, Scalar &gt; 继承关系图:</div>
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  <img src="classpcl_1_1registration_1_1_transformation_estimation3_point.png" usemap="#pcl::registration::TransformationEstimation3Point_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" alt=""/>
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Public 成员函数</h2></td></tr>
<tr class="memitem:aa350cb4c5c8a81aae2a6299c008cd01e"><td class="memItemLeft" align="right" valign="top"><a id="aa350cb4c5c8a81aae2a6299c008cd01e"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#aa350cb4c5c8a81aae2a6299c008cd01e">TransformationEstimation3Point</a> ()</td></tr>
<tr class="memdesc:aa350cb4c5c8a81aae2a6299c008cd01e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a38339dc30613fa8bf4efa7b7654772ff">~TransformationEstimation3Point</a> ()</td></tr>
<tr class="memdesc:a38339dc30613fa8bf4efa7b7654772ff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor <br /></td></tr>
<tr class="separator:a38339dc30613fa8bf4efa7b7654772ff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a73dacae7590491a5d2096834548f193c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a73dacae7590491a5d2096834548f193c">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a73dacae7590491a5d2096834548f193c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a73dacae7590491a5d2096834548f193c">更多...</a><br /></td></tr>
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<tr class="memitem:ae40de6a5477ec43a74e87d1a4388f0f6"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#ae40de6a5477ec43a74e87d1a4388f0f6">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ae40de6a5477ec43a74e87d1a4388f0f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#ae40de6a5477ec43a74e87d1a4388f0f6">更多...</a><br /></td></tr>
<tr class="separator:ae40de6a5477ec43a74e87d1a4388f0f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9a0985221ed817ceb3fc7a37bef7ce7"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#ad9a0985221ed817ceb3fc7a37bef7ce7">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:ad9a0985221ed817ceb3fc7a37bef7ce7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#ad9a0985221ed817ceb3fc7a37bef7ce7">更多...</a><br /></td></tr>
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<tr class="memitem:a149bc5ff9edaec5942135e6c38a212ef"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a149bc5ff9edaec5942135e6c38a212ef">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a149bc5ff9edaec5942135e6c38a212ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a149bc5ff9edaec5942135e6c38a212ef">更多...</a><br /></td></tr>
<tr class="separator:a149bc5ff9edaec5942135e6c38a212ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">更多...</a><br /></td></tr>
<tr class="separator:ae6cce6a02e4cb990b1183fd1f8c1cb59 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">更多...</a><br /></td></tr>
<tr class="separator:ab7e2b0354d603958e13ee879921bdc37 inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">更多...</a><br /></td></tr>
<tr class="separator:a442a4c07807f51522252122393de6faf inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const=0</td></tr>
<tr class="memdesc:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">更多...</a><br /></td></tr>
<tr class="separator:a29eac92312d3f445ba840a02e92fa5db inherit pub_methods_classpcl_1_1registration_1_1_transformation_estimation"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a886fc7c9aff5e752aa845c308367d91d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a886fc7c9aff5e752aa845c308367d91d">estimateRigidTransformation</a> (<a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointSource &gt; &amp;source_it, <a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointTarget &gt; &amp;target_it, Matrix4 &amp;transformation_matrix) const</td></tr>
<tr class="memdesc:a886fc7c9aff5e752aa845c308367d91d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target  <a href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a886fc7c9aff5e752aa845c308367d91d">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_transformation_estimation')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, float &gt;</a></td></tr>
<tr class="memitem:a07897a083da1df8960c5888a5374fc02 inherit pub_types_classpcl_1_1registration_1_1_transformation_estimation"><td class="memItemLeft" align="right" valign="top"><a id="a07897a083da1df8960c5888a5374fc02"></a>
typedef Eigen::Matrix&lt; float, 4, 4 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::TransformationEstimation3Point&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p>TransformationEstimation3Points represents the class for transformation estimation based on: </p>
<ul>
<li>correspondence vectors of 3 pairs (planar case)</li>
<li>two point clouds (source and target) of size 3</li>
<li>a point cloud with a set of 3 indices (source), and another point cloud (target)</li>
<li>two point clouds with two sets of indices (source and target) of the size 3</li>
</ul>
<dl class="section note"><dt>注解</dt><dd>The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float.</dd></dl>
<dl class="section author"><dt>作者</dt><dd>P.W.Theiler </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a149bc5ff9edaec5942135e6c38a212ef"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a149bc5ff9edaec5942135e6c38a212ef">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[1/5]</span></h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
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      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html">pcl::registration::TransformationEstimation3Point</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">correspondences</td><td>the vector of correspondences between source and target point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;{</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">if</span> (correspondences.size () != 3)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimation3Point::estimateRigidTransformation] Number of correspondences (%lu) must be 3!\n&quot;</span>, </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      correspondences.size ());</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, correspondences, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt, correspondences, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a73dacae7590491a5d2096834548f193c">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation3_point_html_a73dacae7590491a5d2096834548f193c"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a73dacae7590491a5d2096834548f193c">pcl::registration::TransformationEstimation3Point::estimateRigidTransformation</a></div><div class="ttdeci">virtual void estimateRigidTransformation(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const</div><div class="ttdoc">Estimate a rigid rotation transformation between a source and a target point cloud.</div><div class="ttdef"><b>Definition:</b> transformation_estimation_3point.hpp:45</div></div>
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<a id="a73dacae7590491a5d2096834548f193c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a73dacae7590491a5d2096834548f193c">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[2/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html">pcl::registration::TransformationEstimation3Point</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != 3 || cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != 3)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimation3Point::estimateRigidTransformation] Number of points in source (%lu) and target (%lu) must be 3!\n&quot;</span>, </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      cloud_src.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (), cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  }</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a73dacae7590491a5d2096834548f193c">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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<a id="ad9a0985221ed817ceb3fc7a37bef7ce7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad9a0985221ed817ceb3fc7a37bef7ce7">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[3/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html">pcl::registration::TransformationEstimation3Point</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_tgt</td><td>the vector of indices describing the correspondences of the interst points from <em>indices_src</em> </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;{</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != 3 || indices_tgt.size () != 3)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimation3Point::estimateRigidTransformation] Number of indices in source (%lu) and target (%lu) must be 3!\n&quot;</span>, </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      indices_src.size (), indices_tgt.size ());</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt, indices_tgt);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a73dacae7590491a5d2096834548f193c">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
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<a id="ae40de6a5477ec43a74e87d1a4388f0f6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae40de6a5477ec43a74e87d1a4388f0f6">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[4/5]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html">pcl::registration::TransformationEstimation3Point</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;{</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="keywordflow">if</span> (indices_src.size () != 3 || cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () != 3)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::TransformationEstimation3Point::estimateRigidTransformation] Number of indices in source (%lu) and points in target (%lu) must be 3!\n&quot;</span>, </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      indices_src.size (), cloud_tgt.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  ConstCloudIterator&lt;PointSource&gt; source_it (cloud_src, indices_src);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  ConstCloudIterator&lt;PointTarget&gt; target_it (cloud_tgt);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html#a73dacae7590491a5d2096834548f193c">estimateRigidTransformation</a> (source_it, target_it, transformation_matrix);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;}</div>
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<a id="a886fc7c9aff5e752aa845c308367d91d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a886fc7c9aff5e752aa845c308367d91d">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[5/5]</span></h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation3_point.html">pcl::registration::TransformationEstimation3Point</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>source_it</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>target_it</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">source_it</td><td>an iterator over the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">target_it</td><td>an iterator over the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;{</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  transformation_matrix.setIdentity ();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  source_it.reset ();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  target_it.reset ();</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  Eigen::Matrix &lt;Scalar, 4, 1&gt; source_mean, target_mean;    </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (source_it, source_mean);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (target_it, target_mean);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  source_it.reset ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  target_it.reset ();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  Eigen::Matrix &lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; source_demean, target_demean;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (source_it, source_mean, source_demean, 3);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (target_it, target_mean, target_demean, 3);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  source_it.reset ();</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  target_it.reset ();</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  Eigen::Matrix &lt;Scalar, 3, 1&gt; s1 = source_demean.col (1).head (3) - source_demean.col (0).head (3); </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  s1.normalize ();</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  Eigen::Matrix &lt;Scalar, 3, 1&gt; s2 = source_demean.col (2).head (3) - source_demean.col (0).head (3); </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  s2 -= s2.dot (s1) * s1;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  s2.normalize ();</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  Eigen::Matrix &lt;Scalar, 3, 3&gt; source_rot;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  source_rot.col (0) = s1;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  source_rot.col (1) = s2;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  source_rot.col (2) = s1.cross (s2);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  Eigen::Matrix &lt;Scalar, 3, 1&gt; t1 = target_demean.col (1).head (3) - target_demean.col (0).head (3); </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  t1.normalize ();</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  Eigen::Matrix &lt;Scalar, 3, 1&gt; t2 = target_demean.col (2).head (3) - target_demean.col (0).head (3); </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  t2 -= t2.dot (t1) * t1;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  t2.normalize ();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  Eigen::Matrix &lt;Scalar, 3, 3&gt; target_rot;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  target_rot.col (0) = t1;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  target_rot.col (1) = t2;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  target_rot.col (2) = t1.cross (t2);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="comment">//Eigen::Matrix &lt;Scalar, 3, 3&gt; R = source_rot * target_rot.transpose ();</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  Eigen::Matrix &lt;Scalar, 3, 3&gt; R = target_rot * source_rot.transpose ();</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  transformation_matrix.topLeftCorner (3, 3) = R;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="comment">//transformation_matrix.block (0, 3, 3, 1) = source_mean.head (3) - R * target_mean.head (3);</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  transformation_matrix.block (0, 3, 3, 1) = target_mean.head (3) - R * source_mean.head (3);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;}</div>
<div class="ttc" id="agroup__common_html_ga7f82fbd4e17063ab86287a2543bdea88"><div class="ttname"><a href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a></div><div class="ttdeci">void demeanPointCloud(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, int npts=0)</div><div class="ttdoc">Subtract a centroid from a point cloud and return the de-meaned representation</div><div class="ttdef"><b>Definition:</b> centroid.hpp:631</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
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